Zoox, Inc.

Matthew Daniel Lopez

Collin MacGregor

Udayan Pushparaj Karmarkar

Lilith Rogue Automata

Derek Redfern

Kristofer Sven Smeds

Radhika Jitendra Patel

Austin Hendrix

Darrin Sammons Willis

Michael Isaac Mizrahi

Eric Yu-Chieh Shyu

Ganapathy Sankararaman

Aravind Sarma Vadali

Techniques for controlling a vehicle to safely perform a maneuver are discussed herein. For example, techniques can include determining, based on diagnostic data associated with the vehicle, a first constraint to be applied by a vehicle system of the vehicle. At a first instance, the first constraint may be transmitted to the vehicle system. The systems and/or methods may determine an absence of an action by the vehicle that is associated with first constraint and determine a second constraint to be applied by the vehicle system. At a second instance, the second constraint may be transmitted to the vehicle system. The second constraint may be associated with an emergency stop to ensure the safety of passengers within the vehicle and persons and objects in a surrounding environment.

Fault detection and monitor for issuing vehicle constraints

Techniques for enabling operation of a vehicle after detecting a fault associated with a component of the vehicle are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. Based on the fault, the vehicle computing system can cause the vehicle to cease (e.g., stop) or limit operation in an environment. The vehicle computing system can receive a request to override the fault and continue operation of the vehicle in a recovery mode with limited parameters (e.g., limited speed, acceleration, etc.). Based on a determination that the request to override the fault is valid, the vehicle computing system can cause the vehicle to be controlled, by an operator or an autonomous controller, according to parameters of the recovery mode.

Limited vehicular operation with a faulted component

Techniques for determining whether to limit an operation of a vehicle while operating in a manually assisted mode of operation are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. The vehicle computing system can determine whether the fault is associated with a manual operation of the vehicle. Based on a determination that the fault is not associated with the manual operation of the vehicle (e.g., fault associated with an autonomous control component), the vehicle computing system can override the fault and enable continued operation of the vehicle in the manually assisted mode of operation. Based on a determination that the fault is associated with the manual operation of the vehicle, the vehicle computing system can cause the vehicle to cease operating.

Manual operation vehicle constraints

Techniques for identifying a constraint to apply to an operation of a vehicle are described herein. A vehicle computing system receives diagnostics and constraints associated with components of the vehicle. The vehicle computing system identifies constraints to apply to vehicular operation based on the received diagnostics and constraints. The vehicle computing system may determine whether a received constraint is valid, based on associated diagnostics. Based on a determination that the constraint is valid, the vehicle computing system may include the constraint in vehicle control considerations. Based on a determination that the constraint is invalid, the vehicle computing system may withhold the constraint from vehicle control considerations.

Vehicle operating constraints

The described techniques relate to coordinating and managing faults of systems of a vehicle, such as an autonomous vehicle, to enable the vehicle to respond safely and appropriately to the faults. In examples, a centralized fault monitor system receives faults from different vehicle systems, maps the received faults to associated fault constraints, prioritizes different and shared parameters between the fault constraints, and communicates the constraint parameters to appropriate vehicle systems accordingly.

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Morgan Hill, CA, United States of America

Matthew Daniel Lopez